U.S. patent number 10,969,485 [Application Number 16/052,650] was granted by the patent office on 2021-04-06 for servo rotary scanning system of three-dimensional holographic imaging.
This patent grant is currently assigned to CHINA COMMUNICATION TECHNOLOGY CO., LTD., SHENZHEN CCT THZ TECHNOLOGY CO., LTD.. The grantee listed for this patent is CHINA COMMUNICATION TECHNOLOGY CO., LTD., SHENZHEN CCT THZ TECHNOLOGY CO., LTD.. Invention is credited to Hanjiang Chen, Qing Ding, Xiongwei Huang, Chunchao Qi, Guangsheng Wu, Shukai Zhao.
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United States Patent |
10,969,485 |
Qi , et al. |
April 6, 2021 |
Servo rotary scanning system of three-dimensional holographic
imaging
Abstract
A servo rotary scanning system of three-dimensional holographic
imaging may include a servomotor (20) having a first angle sensor
(21), a second angle sensor (30), a control component (40), a servo
driver (50) and a rotary frame (10), the servo rotary scanning
system of three-dimensional holographic imaging is a full-closed
loop servo control system, the second angle sensor (30) detects an
actual rotating angle of the rotary frame (10) and feeds back a
frame feedback signal to the control component (40), an instruction
signal in the control component (40) is compared with the frame
feedback signal to generate a following error, the first angle
sensor (21) detects an output rotating angle of the servomotor (20)
and feeds back a motor feedback signal to the servo driver (50),
and the servo driver (50) controls the servomotor (20) to rotate
according to the following error and the motor feedback signal.
Inventors: |
Qi; Chunchao (Shenzhen,
CN), Huang; Xiongwei (Shenzhen, CN), Chen;
Hanjiang (Shenzhen, CN), Wu; Guangsheng
(Shenzhen, CN), Zhao; Shukai (Shenzhen,
CN), Ding; Qing (Shenzhen, CN) |
Applicant: |
Name |
City |
State |
Country |
Type |
SHENZHEN CCT THZ TECHNOLOGY CO., LTD.
CHINA COMMUNICATION TECHNOLOGY CO., LTD. |
Shenzhen
Shenzhen |
N/A
N/A |
CN
CN |
|
|
Assignee: |
SHENZHEN CCT THZ TECHNOLOGY CO.,
LTD. (Shenzhen, CN)
CHINA COMMUNICATION TECHNOLOGY CO., LTD. (Shenzhen,
CN)
|
Family
ID: |
1000005469525 |
Appl.
No.: |
16/052,650 |
Filed: |
August 2, 2018 |
Prior Publication Data
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Document
Identifier |
Publication Date |
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US 20180341015 A1 |
Nov 29, 2018 |
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Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
Issue Date |
|
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PCT/CN2016/094865 |
Aug 12, 2016 |
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Foreign Application Priority Data
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May 24, 2016 [CN] |
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201610349789.0 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
H01Q
3/24 (20130101); G01S 13/426 (20130101); H01Q
3/04 (20130101); H01Q 1/005 (20130101); G01S
7/03 (20130101); G05B 19/414 (20130101); G01S
13/887 (20130101); G01S 13/89 (20130101); G01S
13/0209 (20130101); G05B 2219/33218 (20130101) |
Current International
Class: |
G01S
13/88 (20060101); H01Q 1/00 (20060101); H01Q
3/24 (20060101); G01S 13/42 (20060101); H01Q
3/04 (20060101); G05B 19/414 (20060101); G01S
7/03 (20060101); G01S 13/02 (20060101); G01S
13/89 (20060101) |
Field of
Search: |
;342/22 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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102419560 |
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Apr 2012 |
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102428361 |
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102540185 |
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Jul 2012 |
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CN |
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102540928 |
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Jul 2012 |
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CN |
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102565793 |
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Jul 2012 |
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CN |
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103728972 |
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Apr 2014 |
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CN |
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103810929 |
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May 2014 |
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CN |
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104711754 |
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Jun 2015 |
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CN |
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105182346 |
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Dec 2015 |
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CN |
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105467386 |
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Apr 2016 |
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CN |
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105843176 |
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Aug 2016 |
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CN |
|
205787855 |
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Dec 2016 |
|
CN |
|
Other References
Machine translation of specification of CN102231548B, Nov. 2, 2011
(Year: 2011). cited by examiner .
Translation of Written Opinion for PCT/CN2016/094865, dated Jan.
25, 2017 (Year: 2017). cited by examiner.
|
Primary Examiner: McGue; Frank J
Parent Case Text
CROSS-REFERENCE TO RELATED APPLICATIONS
This is a continuation of International Application
PCT/CN2016/094865, with an international filing date of Aug. 12,
2016, which claims foreign priority of Chinese Patent Application
No. 201610349789.0, filed on May 24, 2016 in the State Intellectual
Property Office of China, the contents of all of which are hereby
incorporated by reference.
Claims
What is claimed is:
1. A servo rotary scanning system of three-dimensional (3D)
holographic imaging comprising: a rotary frame, being configured to
mount transceiving antenna modules; a servomotor, being configured
to drive the rotary frame to rotate along a rotating axis, the
servomotor having a first angle sensor for detecting an output
rotating angle thereof; a second angle sensor, being disposed on a
position of the rotary frame where the rotating axis of the rotary
frame is passed through, and being configured to detect an actual
rotating angle of the rotary frame; a control component, being
electrically connected with the second angle sensor; and a servo
driver, being configured to control the servomotor to rotate
according to the actual rotating angle of the rotary frame and the
output rotating angle of the servomotor, the first angle sensor and
the control component all being electrically connected with the
servo driver.
2. The servo rotary scanning system of three-dimensional
holographic imaging of claim 1, wherein the rotary frame comprises
a first cross arm that is driven by the servomotor to rotate, and
two carrying arms respectively disposed at two ends of the first
cross arm and perpendicular to the first cross arm, so that the two
carrying arms are parallel to each other; the carrying arm
comprises an inside face and an outside face opposite to each
other, and the inside faces of the two carrying arms are disposed
facing to each other; the number of the transceiving antenna
modules are two; and the two transceiving antenna modules are
disposed on the inside faces of the two carrying arms respectively,
so that the two transceiving antenna modules are disposed facing to
each other.
3. The servo rotary scanning system of three-dimensional
holographic imaging of claim 2, wherein both of the two carrying
arms extend along a vertical direction, and a transceiving antenna
module is disposed at an inner side of each of the carrying
arms.
4. The servo rotary scanning system of three-dimensional
holographic imaging of claim 2, wherein a rotating axis of the
first cross arm is located at a center of the first cross arm.
5. The servo rotary scanning system of three-dimensional
holographic imaging of claim 2, wherein the servomotor drives the
rotary frame to perform reciprocating scanning motion about a
rotating axis.
6. The servo rotary scanning system of three-dimensional
holographic imaging of claim 2, wherein the rotary frame further
comprises a second cross arm connected between the two carrying
arms, and the first cross arm and the second cross arm are disposed
opposite to each other.
7. The servo rotary scanning system of three-dimensional
holographic imaging of claim 6, wherein the first cross arm, the
two carrying arms and the second cross arm are arranged in a
rectangular form.
8. The servo rotary scanning system of three-dimensional
holographic imaging of claim 6, wherein a line connecting centers
of the first cross arm and the second cross arm is the rotating
axis of the rotary frame.
9. The servo rotary scanning system of three-dimensional
holographic imaging of claim 6, wherein the first cross arm, the
two carrying arms and the second cross arm are formed into an
integral structure or an assembled structure.
10. The servo rotary scanning system of three-dimensional
holographic imaging of claim 6 further comprising a fixing support
having an upper mounting arm and a lower mounting arm disposed
opposite to each other, and the rotary frame is rotatably mounted
between the upper mounting arm and the lower mounting arm.
11. The servo rotary scanning system of three-dimensional
holographic imaging of claim 10, wherein the servomotor is disposed
on the upper mounting arm, the first cross arm is rotatably mounted
on the upper mounting arm, the second cross arm is rotatably
mounted on the lower mounting arm; or the servomotor is disposed on
the lower mounting arm, the first cross arm is rotatably mounted on
the lower mounting arm, and the second cross arm is rotatably
mounted on the upper mounting arm.
12. The servo rotary scanning system of three-dimensional
holographic imaging of claim 1, wherein the servomotor and the
rotating frame are connected via a reducer.
13. The servo rotary scanning system of three-dimensional
holographic imaging of claim 1, wherein the control component
comprises an upper computer, a first controller configured to
receive a scan instruction issued by the upper computer, and a
second controller communicatively connected with the first
controller and electrically connected with the servo driver.
14. The servo rotary scanning system of three-dimensional
holographic imaging of claim 13 further comprising a rotation
direction sensor configured to detect positive and negative
rotating orientations of the rotary frame and limit the rotating
angle of the rotary frame, and the rotation direction sensor is
electrically connected with the second controller.
15. A servo scanning system of three-dimensional holographic
imaging, comprising: a fixing support comprising: an upper mounting
arm; a lower mounting arm spaced from the upper mounting arm; and
supporting columns connecting the upper and lower mounting arms to
define a space; a frame mounted in the space and capable of
rotating about an imaginary axis relative to the fixing support,
the frame comprising: a first cross arm coupled on the upper
mounting arm; a second cross arm coupled on the lower mounting arm
and parallel to the first cross arm; and carrying arms connecting
the first and second cross arms, wherein transceiving antenna
modules are mounted on the second cross arm; a servomotor
configured to drive the first cross arm to rotate along a rotating
axis, the servomotor having a first angle sensor for detecting an
output rotating angle thereof; a second angle sensor, being
disposed on a connection where the upper mounting arm and the first
cross arm are connected, the second angel sensor being configured
to detect an actual rotating angle of the rotary frame, wherein the
connection is a position of where the rotating axis is passed
through; a control component, being electrically connected with the
second angle sensor; and a servo driver, being configured to
control the servomotor to rotate according to the actual rotating
angle of the frame and the output rotating angle of the servomotor,
the first angle sensor and the control component all being
electrically connected with the servo driver.
16. The servo scanning system of claim 15, wherein the upper
mounting arm is substantially parallel to the lower mounting arm,
the imaginary axis is substantially perpendicular to the upper
mounting arm, the frame is configured to rotate about the
connection.
17. The servo scanning system of claim 16, wherein the connection
is located on a center of the first cross arm.
18. The servo scanning system of claim 15, wherein the number of
the carrying arms are two; the number of the transceiving antenna
modules are two; the two carrying arms are perpendicular to the
first cross arm, so that the two carrying arms are parallel to each
other; the carrying arm comprises an inside face and an outside
face opposite to each other, and the inside faces of the two
carrying arms are disposed facing to each other; and the two
transceiving antenna modules are disposed on the inside faces of
the two carrying arms respectively, so that the two transceiving
antenna modules are disposed facing to each other.
Description
TECHNICAL FIELD
The present disclosure generally relates to the technical field of
mechanical transmission and servo control, and more particularly,
relates to a servo rotary scanning system of three-dimensional (3D)
holographic imaging.
BACKGROUND
Three-dimensional holographic imaging systems have found wide
application in the field of security inspection, and have achieved
the purpose of covering and inspecting carried foreign matters with
no dead angle due to the capability of observing and imaging from
multiple viewing angles as compared to the flat-plate imaging
system. In order to achieve precise three-dimensional imaging, an
object-under-test needs to be covered from multiple angles by
adopting cylindrical scanning. Thus, higher requirements have been
imposed on the servo rotary scanning system of three-dimensional
holographic imaging. During the operation, a rotary frame for
transceiving antenna modules needs to rotate within a certain range
of angles and it needs to be ensured that the overall deformation
or shaking of the rotary frame in the horizontal direction and the
radial direction is below a certain threshold. Due to requirements
for the imaging speed imposed by the market, the scanning speed of
the three-dimensional holographic imaging system during the
operation is relatively high, which results in a decreased
stability at the start and stop of the scanning. Moreover, to
cooperate with the accurate transmitting and receiving of the
signal of the transceiving antenna module, it is also needed to
ensure that the rotation of the motor and the transceiving of the
transceiving antenna module are performed simultaneously at time
sequence, and this imposes requirements for the real-time
monitoring and the inspection of the servo control system. During
the multiple reciprocating scanning processes of the servo control
system, the start and end positions of each scanning have to be
positioned accurately, a real-time output rotating angle of the
motor and an actual rotating angle of the rotary frame should be
fed back in time and the time delay of the feedback should satisfy
certain requirements. Accordingly, an urgent need exists in the
market to develop a servo rotary scanning system of
three-dimensional holographic imaging that satisfies the aforesaid
technical requirements.
SUMMARY
An objective of the present disclosure is to provide a servo rotary
scanning system of three-dimensional holographic imaging, which is
intended to solve the technical problem in the three-dimensional
holographic imaging system currently available that a higher
running speed of the transceiving antenna module causes a decreased
stability at the start and stop of the scanning; and meanwhile, the
system satisfies requirements for the real-time monitoring and
inspection of the servo rotary scanning system, and the precise
positioning of the start and end positions of each scanning during
the multiple reciprocating scanning processes.
The present disclosure is achieved in the following way: a servo
rotary scanning system of three-dimensional holographic imaging
comprises:
a rotary frame, being configured to mount transceiving antenna
modules;
a servomotor, being configured to drive the rotary frame to rotate,
the servomotor having a first angle sensor for detecting an output
rotating angle thereof;
a second angle sensor, being disposed on a rotating axis of the
rotary frame and being configured to detect an actual rotating
angle of the rotary frame;
a control component, being electrically connected with the second
angle sensor; and
a servo driver, being configured to control the servomotor to
rotate according to the actual rotating angle of the rotary frame
and the output rotating angle of the servomotor, the first angle
sensor and the control component all being electrically connected
with the servo driver.
Further, the rotary frame comprises a first cross arm that is
driven by the servomotor to rotate and two carrying arms
respectively disposed at two ends of the first cross arm and
configured to mount the transceiving antenna modules.
Further, both of the two carrying arms extend along a substantially
vertical direction, and a transceiving antenna module is disposed
at an inner side of each of the carrying arms.
Further, a rotating axis of the first cross arm is located at a
center of the first cross arm.
Further, the servomotor drives the rotary frame to perform
reciprocating scanning motion about a rotating axis.
Further, the rotary frame further comprises a second cross arm
connected between the two carrying arms, and the first cross arm
and the second cross arm are disposed opposite to each other.
Further, the first cross arm, the two carrying arms and the second
cross arm are arranged in a rectangular form.
Further, an inner surface of the first cross arm is substantially
parallel to an inner surface of the second cross arm.
Further, a line connecting centers of the first cross arm and the
second cross arm is the rotating axis of the rotary frame.
Further, the first cross arm, the two carrying arms and the second
cross arm are formed into an integral structure or an assembled
structure.
Further, the servo rotary scanning system of three-dimensional
holographic imaging further comprises a fixing support having an
upper mounting arm and a lower mounting arm disposed opposite to
each other, and the rotary frame is rotatably mounted between the
upper mounting arm and the lower mounting arm.
Further, the servomotor is disposed on the upper mounting arm, the
first cross arm is rotatably mounted on the upper mounting arm, the
second cross arm is rotatably mounted on the lower mounting arm; or
the servomotor is disposed on the lower mounting arm, the first
cross arm is rotatably mounted on the lower mounting arm, and the
second cross arm is rotatably mounted on the upper mounting
arm.
Further, the servomotor and the rotating frame are connected via a
reducer.
Further, the control component comprises an upper computer, a first
controller configured to receive a scan instruction issued by the
upper computer, and a second controller communicatively connected
with the first controller and electrically connected with the servo
driver.
Further, the servo rotary scanning system of three-dimensional
holographic imaging further comprises a rotation direction sensor
configured to detect positive and negative rotating orientations of
the rotary frame and limit the rotating angle of the rotary frame,
and the rotation direction sensor is electrically connected with
the second controller.
As compared to the prior art, the present disclosure has the
following technical effects: the servo rotary scanning system of
three-dimensional holographic imaging may consist of a servomotor
having a first angle sensor, a second angle sensor, a control
component, a servo driver and a rotary frame. The servo rotary
scanning system of three-dimensional holographic imaging is a
full-closed loop servo control system, the second angle sensor
detects the actual rotating angle of the rotary frame and feeds
back a frame feedback signal to the control component, an
instruction signal in the control component is compared with the
frame feedback signal to generate a following error, the first
angle sensor detects an output rotating angle of the servomotor and
feeds back a motor feedback signal to the servo driver, and the
servo driver controls the servomotor to rotate according to the
following error and the motor feedback signal.
The servo rotary scanning system of three-dimensional holographic
imaging has a simple structure, a lower cost and a high rotation
precision and is easy to be assembled and controlled. The rotary
frame can ensure stable start and stop of the scanning even at a
higher running speed. To cooperate with the accurate transmitting
and receiving of the signal of the transceiving antenna module, the
rotation of the servomotor and the transceiving of the transceiving
antenna module can be ensured to be performed simultaneously at
time sequence, and the requirements for the real-time monitoring
and the inspection of the servo control system are satisfied.
During the multiple reciprocating scanning processes of the servo
control system, the start and end positions of each scanning can be
positioned accurately, the real-time output rotating angle of the
servomotor and the actual rotating angle of the rotary frame can be
fed back in time and the time delay of the feedback satisfies
certain requirements.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective structural view of a servo rotary scanning
system of three-dimensional holographic imaging provided according
to a first embodiment of the present disclosure.
FIG. 2 is a schematic structural view of the servo rotary scanning
system of three-dimensional holographic imaging.
FIG. 3 is a perspective structural view of a servo rotary scanning
system of three-dimensional holographic imaging provided according
to a second embodiment of the present disclosure.
DETAILED DESCRIPTION
To make objectives, technical solutions and advantages of the
present disclosure clearer and easier to be understood, the present
disclosure will be further described in detail hereinafter with
reference to attached drawings and embodiments. It shall be
appreciated that, specific embodiments described herein are only
used for explaining the present disclosure and not intended to
limit the present disclosure.
Referring to FIG. 1 and FIG. 2, a servo rotary scanning system of
three-dimensional holographic imaging provided according to a first
embodiment of the present disclosure comprises: a rotary frame 10
that is configured to mount transceiving antenna modules 90; a
servomotor 20 that is configured to drive the rotary frame 10 to
rotate, the servomotor 20 having a first angle sensor 21 for
detecting an output rotating angle thereof; a second angle sensor
30 that is disposed on a rotating axis of the rotary frame 10 and
configured to detect an actual rotating angle of the rotary frame
10; a control component 40 that is electrically connected with the
second angle sensor 30; and a servo driver 50 that is configured to
control the servomotor 20 to rotate according to the actual
rotating angle of the rotary frame 10 and the output rotating angle
of the servomotor 20, the first angle sensor 21 and the control
component 40 all being electrically connected with the servo driver
50.
The servo rotary scanning system of three-dimensional holographic
imaging may consist of the servomotor 20 having the first angle
sensor 21, the second angle sensor 30, the control component 40,
the servo driver 50 and the rotary frame 10, the servo rotary
scanning system of three-dimensional holographic imaging may be a
full-closed loop servo control system, the second angle sensor 30
may detect the actual rotating angle of the rotary frame 10 and
feed back a frame feedback signal A to the control component 40, an
instruction signal I in the control component 40 may be compared
with the frame feedback signal A to generate a following error E,
the first angle sensor 21 may detect an output rotating angle of
the servomotor 20 and feed back a motor feedback signal B to the
servo driver 50, and the servo driver 50 may control the servomotor
20 to rotate according to the following error E and the motor
feedback signal B.
The servo rotary scanning system of three-dimensional holographic
imaging may have a simple structure, a lower cost, a high rotation
precision and may be easy to be assembled and controlled. The
rotary frame 10 can ensure stable start and stop of the scanning
even at a higher running speed. To cooperate with the accurate
transmitting and receiving of the signal of the transceiving
antenna module 90, the rotation of the servomotor 20 and the
transceiving of the transceiving antenna module 90 can be ensured
to be performed simultaneously at time sequence, and the
requirements for the real-time monitoring and the inspection of the
servo control system can be satisfied. During the multiple
reciprocating scanning processes of the servo control system, the
start and end positions of each scanning can be positioned
accurately, the real-time output rotating angle of the servomotor
20 and the actual rotating angle of the rotary frame 10 can be fed
back in time and the time delay of the feedback satisfies certain
requirements.
The transceiving antenna module 90 may comprise several
transceiving antenna units arranged in columns. Each of the
transceiving antenna units may comprise a transmitting antenna and
a receiving antenna disposed adjacent to the transmitting antenna,
the radiation transmitted sequentially by the transmitting antennas
in all the transceiving antenna units may be irradiated to a
to-be-imaged object, and millimeter-waves reflected back from the
to-be-imaged object are received sequentially by the receiving
antennas corresponding to the transmitting antennas, and thus a
predetermined scan area can be scanned. Specifically, the
transceiving antenna module 90 may be a millimeter-wave
transceiving antenna module, and the millimeter-waves refer to
electromagnetic waves having a frequency of 26 GHz to 300 GHz.
The first angle sensor 21 may be built in the servomotor 20 and is
configured to detect the output rotating angle of the servomotor
20. The second angle sensor 30 may be mounted at any part of the
rotating axis of the rotary frame 10, e.g., at the top or the
bottom of the rotary frame 10, to detect the actual rotating angle
of the rotary frame 10. Each of the first angle sensor 21 and the
second angle sensor 30 may be a rotary transformer, an inductosyn,
an optical grating, a magnetic grating, an encoder or other angle
detecting elements, and it may be selected depending on actual
needs.
In the aforesaid full-close loop servo control system, the control
component 40 may be provided with the instruction signal I therein,
and the instruction signal I of the control component 40 may be
compared with the frame feedback signal A to generate a following
error E. If the following error E exceeds a certain range, an alert
signal may be generated, and the servo driver 50 controls the
servomotor 20 to rotate according to the following error E and the
motor feedback signal B. The frame feedback signal A fed by the
second angle sensor 30 back to the control component 40 may be a
position feedback signal, and the motor feedback signal B fed by
the first angle sensor 21 back to the servo driver 50 may be a
position and speed feedback signal. Relevant software algorithms
involved in controlling the servomotor 20 to rotate by the servo
driver 50 according to the following error E and the motor feedback
signal B belong to the prior art.
Further, the rotary frame 10 may comprise a first cross arm 11 that
can be driven by the servomotor 20 to rotate and two carrying arms
12 respectively disposed at two ends of the first cross arm 11 and
configured to mount the transceiving antenna module 90. The
servomotor 20 may drive the first cross arm 11 to rotate, the two
carrying arms 12 may be distributed opposite to each other, and an
inner side of each of the carrying arms 12 may be provided with a
transceiving antenna module 90, two transceiving antenna modules 90
may form a predetermined scan area therebetween, and the two
transceiving antenna modules 90 may rotate about a same plumb line
to scan the predetermined scan area. The servomotor 20 may drive
the rotary frame 10 to perform half-circular reciprocating scanning
motion, thereby achieving cylindrical rotary scanning. When a
person stands within the predetermined scan area, three-dimensional
scanning of the human body can be accomplished simply by scanning
for one time. Both of the two carrying arms 12 extend along the
vertical direction, and the transceiving antenna modules 19 on the
two carrying arms 12 can scan the predetermined scan area by
rotating about the same plumb line.
Further, a rotating axis of the first cross arm 11 may be located
at a center of the first cross arm 11. This structure may enable
the rotary frame 10 to rotate stably and symmetrically about the
rotating axis, and during the operation, the rotary frame 10 can
rotate within a certain range of angles and it can be ensured that
the overall deformation or shaking of the rotary frame 10 in the
horizontal direction and the radial direction is below a certain
threshold.
Further, the servomotor 20 may drive the rotary frame 10 to perform
reciprocating scanning motion about the rotating axis. A single
time of scanning may cover any angle interval within -90.degree. to
90.degree.. Further, the rotating angle can be 120.degree., and the
same angle can be scanned in the opposite direction during the next
time of scanning. The range of angular speed .theta. for rotary
scanning can be 10.degree./s<.theta.<80.degree./s; and the
time range for a single time of scanning can be 2 seconds to 10
seconds. This may be selected depending on specific needs.
Alternatively, the number of the carrying arm 12 can be one, and an
inner side of the carrying arm 12 may be provided with a
transceiving antenna module 90, the transceiving antenna module 90
may form a predetermined scan area toward one side of the rotating
axis, and the transceiving antenna module 90 may rotate about a
plumb line to scan the predetermined scan area. This solution may
achieve partial rotary scanning or cylindrical rotary scanning. For
example, the range of the rotating angle of the transceiving
antenna module 90 can be 120.degree., and when the person stands
within the predetermined scanning area, the front and the back
sides of the person respectively face the transceiving antenna
module 90, and the three-dimensional scanning of the human body can
be accomplished simply by scanning for two times. Alternatively,
the range of the rotating angle of the transceiving antenna module
90 can be 300.degree., and when the person stands within the
predetermined scanning area, the three-dimensional scanning of the
human body can be accomplished simply by scanning for one time.
Further, the rotary frame 10 may further comprise a second cross
arm 13 connected between the two carrying arms 12, and the first
cross arm 11 and the second cross arm 13 may be disposed opposite
to each other. The servomotor 20 may drive the first cross arm 11
to rotate, and it may simultaneously drive the transceiving antenna
modules 90 on the two carrying arms 12 to rotate about the same
plumb line to scan the predetermined scan area, and the second
cross arm 13 may enable the rotary frame 10 to have an overall
stable structure and small shaking during the rotation.
Further, the first cross arm 11, the two carrying arms 12 and the
second cross arm 13 may be arranged in a rectangular form. This
structure is stable, and during the rotation, the rotary frame 10
can rotate within a certain range of angles and it can be ensured
that the overall deformation or shaking of the rotary frame 10 in
the horizontal direction and the radial direction may be below a
certain threshold.
Further, the two carrying arms 12 may be symmetrically and
vertically mounted at two ends of the first cross arm 11 and the
second cross arm 13, and the perpendicularity error may be ensured
to be within a range of 0.01.degree.. An inner surface of the first
cross arm 11 may be substantially parallel to an inner surface of
the second cross arm 13, and the actual nonparallelism between the
inner surfaces (surfaces toward the center of the cylinder) of the
two carrying arms 12 may be ensured to be within a range of .+-.0.5
mm/2000 mm. A distance between the inner surfaces of the two
carrying arms 12 can be 1200.00 mm. A line connecting centers of
the first cross arm 11 and the second cross arm 13 may be the
rotating axis of the rotary frame 10. During the process of the
rotary scanning motion, by adopting the rotary structure in the
form of a frame, the relative positional relationship between the
transceiving antenna module 90 and the carrying arm 12 may be
fixed, the relative positional relationship between the
transceiving antenna module 90 and the servomotor 20 of the rotary
structure may be fixed, and the relative positional relationship
between the carrying arm 12 and the servomotor 20 of the rotary
structure may be fixed. The amplitude of the radial and tangential
vibration is small. The range of deviation of the relative
positional relationship between the transceiving antenna module 90
and the carrying arm 12 should be limited so that the amplitude of
the radial vibration may be less than .+-.0.5 mm, and the amplitude
of the tangential vibration may be less than .+-.0.5 mm. The range
of deviation of the relative positional relationship between the
transceiving antenna module 90 and the servomotor 20 of the rotary
structure should be limited so that the amplitude of the radial
vibration may be less than .+-.0.5 mm, and the amplitude of the
tangential vibration may be less than .+-.0.5 mm. The range of
deviation of the relative positional relationship between the
carrying arm 12 and the servomotor 20 of the rotary structure
should be limited so that the amplitude of the radial vibration may
be less than .+-.0.5 mm, and the amplitude of the tangential
vibration may be less than .+-.0.5 mm. The structure may be
detachable and may have a high precision for repeating the
assembling, and the precision for repeating the assembling after
the parts are detached may be ensured to be within the range of
.+-.0.5 mm/2000 mm.
Further, the first cross arm 11, the two carrying arms 12 and the
second cross arm 13 may be formed into an integral structure or an
assembled structure. For example, the first cross arm 11, the two
carrying arms 12 and the second cross arm 13 may be cast
integrally, and this solution may be easy for manufacturing and the
structure obtained thereby is stable.
Further, the system further comprises a fixing support 60 having an
upper mounting arm 61 and a lower mounting arm 62 disposed opposite
to each other, and the rotary frame 10 may be rotatably mounted
between the upper mounting arm 61 and the lower mounting arm 62.
The fixing support 60 may facilitate the mounting of the rotary
frame 10, and the rotary frame 10 may rotate on the fixing support
60 stably. The fixing support 60 may adopt the form of four
supporting columns, and the upper mounting arm 61 and the lower
mounting arm 62 may adopt an I beam, so it may be easy to be
manufactured and the structure obtained thereby is stable. As shall
be appreciated, it may be also feasible to drive the rotary frame
10 to rotate by the servomotor 20 without providing the fixing
support 60.
Further, the servomotor 20 may be mounted on the upper mounting arm
61, the first cross arm 11 may be rotatably mounted on the upper
mounting arm 61, and the second cross arm 13 may be rotatably
mounted on the lower mounting arm 62. The overall structure is
stable, the shaking during the rotation of the rotary frame 10 may
be small, and the second cross arm 13 may be arranged at a lower
position. The second cross arm 13 may be provided with a rotating
shaft thereon, the lower mounting arm 62 may have a mounting hole
thereon, an end of the rotating shaft may be inserted into the
mounting hole, and the rotating shaft may rotate about an axis of
the mounting hole to achieve the purpose of rotatably mounting the
second cross arm 13 on the lower mounting arm 62.
Further, the servomotor 20 and the rotating frame 10 may be
connected via a reducer 70. The reducer 70 may improve the output
torque by decreasing the output rotation speed so as to drive the
rotary frame 10 to rotate. For this solution, the structure is
simple, the mounting is convenient and the positioning precision
can be ensured.
Further, the control component 40 may comprise an upper computer
41, a first controller 42 that may be configured to receive a scan
instruction issued by the upper computer 41, and a second
controller 43 that may be communicatively connected with the first
controller 42 and electrically connected with the servo driver 50.
A user may input an instruction via the upper computer 41, and the
upper computer 41 may send a control instruction to the second
control 43 via the first controller 42 and receive returned status
information. The first control 42 may communicate with the second
controller 43, and the first controller 42 may send a control
command to the second controller 43 and receive returned status
information. The second controller 43 may send enable control and
scan direction instructions and a scan speed instruction to the
servo driver 50 according to the received control command, and may
control the servomotor 20 to rotate indirectly via the servo driver
50. The rotation speed of the servomotor 20 may be preset in the
servo driver 50, and the servo driver 50 may drive the servomotor
20 to run at different speed modes according to different speed
instructions. The servo driver 50 may preset various running modes
to satisfy requirements of precise rotation and positioning.
Meanwhile, the servomotor 20 may have the first angle sensor 21
built therein, the first angle sensor 21 may generate and feed back
a pulse sequence to the second controller 43 to analyze the running
status of the servomotor 20 during the operation of the servomotor
20, and may return the status information to a program of the upper
computer 41. The second angle sensor 30 may generate a pulse signal
and feed the pulse signal back to the second controller 43 in real
time, and the servo driver 50 may drive the servomotor 20 to
rotate. The second angle sensor 30 may input the pulse signal to
the first controller 42, and the first controller 42 may process
the received pulse signal to determine whether to trigger the
operation of the transceiving antenna module 90 and other
modules.
Specifically, the first controller 42 may be a PLC programmable
logic device. The second controller 43 may be an FPGA control
panel. The PLC programmable logic device may cooperate with the
FPGA control panel so that the overall system is more stable, the
later maintenance may be convenient and the probability of failure
of the overall system can be reduced. The FPGA control panel
communicates with the PLC programmable logic device, the
communication interface may adopt RS422/RS232 or network ports to
achieve communication, and a communication protocol with the PLC
programmable logic device may comprise a frame header, an
instruction word, a status word, a frame count and parity bit
information. The communication protocol between the PLC
programmable logic device and the servo driver 50 may satisfy
design requirements of the driver. The FPGA control panel may
generate various kinds of triggering signals and time sequence
signals to trigger the operation of the transceiving antenna module
90 and other apparatuses. The number of triggering interfaces of
the FPGA control panel may be greater than 2, and the apparatuses
triggered by the FPGA control panel may include but not limited to
the transceiving antenna module 90. Moreover, the signals may be
output via multiple channels, and the time sequence signals may be
output through the combination of multiple channels to trigger or
control other apparatuses, e.g., output by the combination of four
channels to generate independent time signals of 16 bits. It shall
be appreciated that, other types of controllers may also be
selected as the first controller 42 and the second controller
43.
Further, the second angle sensor 30 may be an encoder, and the
encoder may detect an actual rotating angle signal of the rotary
frame 10 in real time and input the signal to the first controller
42. During the process of scanning motion, the servo rotary
scanning system may calculate the number of square signals to
determine the rotated angle, and the resolution of the angle
position may be superior to 0.005.degree.. One position triggering
signal may be sent every .DELTA..theta. (.DELTA..theta. is an angle
interval, .DELTA..theta. is an angle determined between
0.20.degree. and 0.40.degree.), and during the rotary scanning
motion having an effective travel of .theta., a total of N
(N=.theta./.DELTA..theta., taking the integer part of N) angle
position triggering signals may be outputted. The angle interval of
the scanning motion may be set by the communication interface with
a program in the second controller 43. During the process of
reciprocating scanning, the repeated positioning precision of the
upper mounting arm 61 and the lower mounting arm 62 may be
.+-.0.01.degree. (repeated for 100 times); the absolute positioning
precision of the upper mounting arm 61 and the lower mounting arm
62 may be .+-.0.01.degree.; and the angle position error
corresponding to the position triggering pulse should be superior
to .+-.0.01.degree..
Further, the system further may comprise a rotation direction
sensor 80 that is configured to detect positive and negative
rotating orientations of the rotary frame 10 and limit the rotating
angle of the rotary frame 10, and the rotation direction sensor 80
may be electrically connected with the second controller 43. The
rotation direction sensor 80 may monitor the current positive and
negative orientation of the rotary frame 10 in real time and obtain
an absolute zero position, and the rotation direction sensor 80 may
further monitor whether the frame selected for use exceeds a
limiting position and feeds status information back to the second
controller 43. Specifically, the rotation direction sensor 80 may
be an optoelectronic switch, a combination of two rotary encoders
or other rotation direction sensors. The rotation direction sensor
80 mounted on the rotating axis and fixed on the fixing support 60
may adopt the optoelectronic switch, and takes 0.degree. as a
center zero position, wherein the negative angle is the negative
direction, and the positive angle is the positive direction. The
optoelectronic switch may distinguish the position and negative
directions by outputting a high or low level, and the jumping point
between the high level and the low level may be the center zero
position. Alternatively, the rotation direction sensor 80 may adopt
two rotary encoders, and the two rotary encoders may output two
sets of pulses of which the phase difference is 90 degrees, and the
rotation speed can be measured and the direction of the rotation
can be determined according to the two sets of pulses. Furthermore,
it may be set inside the rotation direction sensor 80 that the
positive level and the negative level are only output within a
certain range of angles, e.g., which may be limited to
.+-.60.degree., and when the limited angle is exceeded, different
signals may be output to indicate that the scanning angle exceeds
the specified upper limit of the range and the signals may be sent
to the second controller 43 so that security measures can be
adopted. The measures that can be selected include but not limited
to turning off the power, enabling the motor to suspend, and idling
of the motor without load or the like. The rotation direction
sensor 80 may transmit the orientation signal, the limiting signal
or the like to the second controller 43 in real time so as to
control the servomotor 20 to rotate in a correct and safe
manner.
Further, the system further may comprise a power source for
providing electrical energy for devices such as the servo motor 20,
the control component 40 and the servo driver 50 or the like.
Referring to FIG. 2 and FIG. 3, a servo rotary scanning system of
three-dimensional holographic imaging provided according to a
second embodiment of the present disclosure is generally the same
as the servo rotary scanning system of three-dimensional
holographic imaging provided according to the first embodiment, and
the second embodiment differs from the first embodiment in that,
the servomotor 20 may be disposed on the lower mounting arm 62, the
first cross arm 11 may be rotatably mounted on the lower mounting
arm 62, and the second cross arm 13 may be rotatably mounted on the
upper mounting arm 61. The overall structure is stable, the shaking
of the rotary frame 10 may be small during the rotation, the
servomotor 20 may be convenient to be mounted, and the overall
system is safe in use. The second cross arm 13 may be provided with
a rotating shaft thereon, the upper mounting arm 61 may have a
mounting hole thereon, an end of the rotating shaft may be inserted
into the mounting hole, and the rotating shaft may rotate about an
axis of the mounting hole to achieve the purpose of rotatably
mounting the second cross arm 13 on the upper mounting arm 61.
The servo rotary scanning system of three-dimensional holographic
imaging may include the servomotor 20 having the first angle sensor
21, the second angle sensor 30, the control component 40, the servo
driver 50 and the rotary frame 10, the servo rotary scanning system
of three-dimensional holographic imaging may be a full-closed loop
servo control system, the second angle sensor 30 may detect the
actual rotating angle of the rotary frame 10 and feed back a frame
feedback signal A to the control component 40, an instruction
signal I in the control component 40 may be compared with the frame
feedback signal A to generate a following error E, the first angle
sensor 21 may detect an output rotating angle of the servomotor 20
and feed back a motor feedback signal B to the servo driver 50, and
the servo driver 50 may control the servomotor 20 to rotate
according to the following error E and the motor feedback signal B.
The servo rotary scanning system of three-dimensional holographic
imaging may have a simple structure, a lower cost and a high
rotation precision and may be easy to be assembled and controlled.
The rotary frame 10 can ensure stable start and stop of the
scanning even at a higher running speed. To cooperate with the
accurate transmitting and receiving of the signal of the
transceiving antenna module 90, the rotation of the servomotor 20
and the transceiving of the transceiving antenna module 90 can be
ensured to be performed simultaneously at time sequence, and the
requirements for the real-time monitoring and the inspection of the
servo control system can be satisfied. During the multiple
reciprocating scanning processes of the servo control system, the
start and end positions of each scanning can be positioned
accurately, the real-time output rotating angle of the servomotor
20 and the actual rotating angle of the rotary frame 10 can be fed
back in time and the time delay of the feedback satisfies certain
requirements.
What described above are only the embodiments of the present
disclosure, but are not intended to limit the scope of the present
disclosure. Any equivalent structures or equivalent process flow
modifications that are made according to the specification and the
attached drawings of the present disclosure, or any direct or
indirect applications of the present disclosure in other related
technical fields shall all be covered within the scope of the
present disclosure.
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